JP2019069855A - Delivery system - Google Patents

Abstract

To provide a delivery system by which a parcel can be securely delivered and can be securely received irrespective of a situation of a recipient.SOLUTION: A delivery system includes a delivery vehicle on which a delivery box to be delivered to a delivery destination is loaded, and a mother vehicle which mounts the delivery vehicle. The delivery vehicle controls movement to the delivery destination after getting off the mother vehicle. The delivery box can be fixed on a delivery box fixture arranged at the delivery destination. When the delivery box fixture is not arranged at the delivery destination, a recipient of the parcel stored in the delivery box is notified of arrival of a parcel, and the parcel is delivered to the recipient by waiting at a predetermined waiting position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a delivery system.

  With the establishment of a communication environment in which communication can be performed using various types of terminals throughout the society, electronic commerce using an EC (Electronic Commerce) site built using Web technology becomes active It is coming.

  This EC site plays a role as a virtual shop provided on the Web, and is also referred to as an online shop or the like. When a product is selected on the EC site, the purchase procedure of the product becomes possible, personal authentication, payment procedure, etc. are completed on a system called Web payment system, and then the product is delivered to a designated delivery destination. Become.

  Products at this time include "digital data" distributed online, and "shaped products (articles)" such as daily necessities. If the former "digital data" is purchased, the delivery of the product will be completed if it is sent to a designated destination such as an e-mail etc. However, if the latter "shaped product" is purchased, it is generally , Will be delivered (delivered) to a delivery destination via a delivery company or the like. That is, a delivery process is required to deliver the product to the delivery destination.

  In this delivery process, in the delivery using a delivery company etc., of course, since it will be delivered via a person, costs such as labor cost will be generated, and the amount of packages (goods) to be delivered is The more you increase, the more labor cost, equipment, etc. will be incurred. Furthermore, if the recipient of the package (article) is absent at the delivery destination, new work such as creation of an absent slip or notification of redelivery will occur.

  Thus, while electronic commerce using the EC site is activated, delivery of the purchased product (product) takes much time and effort, and delivery cost also increases.

JP, 2004-315116, A JP, 2002-173204, A

  Patent Document 1 mentioned above registers at least the sender's address and name of the application form and the address and name of the destination as image data as part of the delivery information in the delivery management database, and based on the image data, tag data A technology is disclosed in which a tag label printed out is attached to an article, and the article is delivered by referring to the delivery information with the invoice number printed on the tag label as the key of the delivery management database.

  In addition, Patent Document 2 describes that when a package arrives, arrival information is transmitted to a contact included in the package information of the barcode printed on the label of the package until the package is picked up. There is.

  The conventional techniques as shown in these patent documents merely disclose techniques for improving the work efficiency in delivery.

  Therefore, an object of the present invention is to provide a delivery system that can reliably deliver packages regardless of the situation of the recipient and can reliably receive them.

  In order to achieve the above object, the present invention according to claim 1 is a delivery system having a delivery vehicle carrying a delivery box for delivery to a delivery destination and a host vehicle carrying the delivery vehicle, the delivery vehicle The vehicle is dismounted from the host vehicle and controlled to move to the delivery destination, and the delivery box can be fixed to the delivery box fixture provided at the delivery destination, and the delivery box fixture is provided at the delivery destination If not, it is characterized by notifying the recipient of the package housed in the delivery box that the package has arrived, waiting at a predetermined standby position and delivering the package to the receiver.

  ADVANTAGE OF THE INVENTION According to this invention, it is effective in the ability to deliver a package reliably regardless of a recipient's condition, and to be able to receive reliably.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the outline | summary of the delivery system in embodiment of this invention. The other figure which shows the outline | summary of the delivery system in embodiment of this invention. The figure which shows the processing process (work process) performed in the delivery origin which comprises the delivery system in embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the block diagram of the carriage in embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the block diagram of the child carriage in embodiment of this invention. The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 1). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 2). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 3). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 4). The figure which shows the detailed structure of the delivery box in embodiment of this invention. The figure which shows the detail of the delivery box fixing tool in embodiment of this invention. The figure which shows the engagement state of the delivery box and delivery box fixing tool in embodiment of this invention. The figure which shows the mail contents which the recipient of a package receives. The flowchart which shows the detailed flow of the BOX delivery control processing performed in the carriage in the embodiment of the present invention. The flowchart which shows the detailed flow of BOX delivery control processing performed in the child carriage in an embodiment of the invention. The flowchart which shows the detailed flow of the lock control processing performed in BOX in embodiment of this invention.

  Hereinafter, an embodiment of a delivery system according to the present invention will be described in detail with reference to the attached drawings.

  FIG. 1 is a diagram showing an outline of a delivery system according to an embodiment of the present invention.

  In FIG. 1, the delivery system is a system for delivering a package by moving a delivery vehicle from a delivery center (hereinafter also referred to as "center 10") which is a "delivery source" of the package to "delivery destination 20 (destination)". It is.

  The center 10 is a product management center (product management source) that manages products, a delivery center (delivery source) that performs delivery procedures for products ordered by the purchaser among products managed by the product management center, and monitoring of other deliveries. It is a generic term for bases that take on the role of monitoring center (monitoring source) etc., and may also be referred to as a "delivery base".

  The center 10 accepts an order placed using an electronic commerce (EC) site capable of electronic commerce. More specifically, a server provided in the center 10 that manages and operates the EC site receives an order.

  This EC site is a store on the Web that can be accessed using electronic devices such as personal computers and tablets installed at home etc. Those who wish to purchase the product can easily access the product by accessing this EC site. You can order (purchase) and feel free to shop.

  Access to this EC site is also possible from a vending machine equipped with a liquid crystal display and connected to the website by network communication. For example, it is possible to purchase a product displayed on a liquid crystal display, such as purchasing a beverage with a conventional vending machine.

  When purchasing a product using this EC site, the product purchase candidate specifies the product to be purchased as well as the payment method of the product as well as the delivery destination 20 of the product.

  When the center 10 receives an order for which the delivery destination 20 or the like is specified from the purchaser of the item, the item ordered from among the items managed using the delivery vehicle is selected and the item is delivered to the delivery destination 20 Processing is performed. The detail of the process (delivery process) concerning the delivery performed in this center 10 is later mentioned using FIG.

  From the center 10 to the delivery destination 20, the delivery vehicle delivers the goods as a package.

  The package at this time may be an appropriate delivery box 300 (also referred to as "box", "BOX", or "storage") selected according to its size (size), shape, number, impact resistance, etc. Is stored (delivered) and delivered. From this, as an object to be delivered (delivery target), the package and the delivery box 300 have the same meaning, and "delivery of package" and "delivery of delivery box" do not have different meanings.

  Moreover, the delivery vehicle to deliver consists of a small delivery vehicle carrying the delivery box 300 and a large delivery vehicle carrying the delivery vehicle itself.

  A large delivery vehicle can carry one or more small delivery vehicles, and is also referred to as an "unmanned autonomous driving delivery carrier", a "mother vehicle", or a "vehicle". Hereinafter, this large-sized delivery vehicle will be referred to as "the mother car 100", and the details thereof will be described later with reference to FIG.

  On the other hand, a small-sized delivery vehicle that can be mounted on the carriage 100 can load the delivery box 300 containing luggage, and is also referred to as "unmanned automatic delivery delivery child vehicle" or "child vehicle". Hereinafter, this small delivery vehicle will be referred to as "child 200", and the details thereof will be described later with reference to FIG.

  From the relationship as described above, it can also be expressed that the carriage 100 carrying the carriage 200 carrying the delivery box 300 carries the delivery box 300.

  The center 10 sets (stores) information ("delivery information") related to the delivery destination 20 of the delivery box 300 storing the packages in each delivery vehicle (the carriage 100, the child carriage 200). In other words, information regarding the delivery destination 20 of the delivery box 300 is set and stored in the small carriage 200 loading the single delivery box 300. Further, the delivery box 300 is loaded in the carriage 100. Information on the delivery destination 20 is set and stored only for the number of the small carriages 200 to be delivered.

  The delivery information includes, in addition to the address and name of the delivery destination, a “fixing fixture number” that identifies the delivery box fixture 400 and “box identification information” that identifies the delivery box 300 to be delivered.

  The mother vehicle 100 has an automatic operation control mechanism (automatic operation control unit) and a delivery control mechanism (delivery control unit), and when the mutual operation is interlocked, delivery of a package is performed.

  The automatic driving control mechanism is a generic name of devices required to move the mother car 100 to a predetermined position (point), and the driving control device, storage device, engine, driving wheel, various actuators, motor (servo A motor, an in-wheel motor), a cylinder, various sensors (including a camera (imaging device)), etc. correspond.

  In this storage device, in addition to the information on the delivery destination 20, map information used to determine the delivery route to the delivery destination of the package and the road on the road which is the moving route (moving route, delivery route) of the carriage 100. It stores information. Besides this, it is possible to store traffic information that can be updated as needed.

  In addition, the operation control device not only moves (drives) such as driving or stopping the bus 100, but also performs parallel parking and turning in narrow places (such as alleys) as well as back and forth movement as well as left and right movement. It is possible to perform parallel movement, in-situ rotation, parallel movement in an oblique direction, and the like.

  The operation control device also includes a GPS (Global Positioning System) device capable of specifying (positioning) a position on map information.

  In the mother vehicle 100, the driving control device uses the information (map information, road information, traffic information, etc.) stored in the storage device and the GPS device to deliver the delivery route from the current position (current position) to the delivery destination 20 ( The movement route is searched and stored, and operation (movement) is performed based on this delivery route. Of course, it is also possible to appropriately update (change) this delivery route based on new traffic information, road information and the like.

  The mother car 100 includes other vehicles and pedestrians, animals, falling objects, ditches, irregularities, traveling lanes, signals and the like defined by the radar, sensors (radar, laser sensor, infrared sensor, ultrasonic sensor, etc.) In addition to pyroelectric sensors, etc.), complex recognition is performed based on information obtained by a face recognition system using a camera or a human body detection system. This enables the carriage 100 to safely drive (move) to the delivery destination or its vicinity while avoiding various dangers on the road.

  In addition, the delivery control mechanism is controlled by the carriage 100 from the center 10 of the delivery source to a predetermined position (point) on the delivery route by the automatic operation control mechanism (corresponding to the following "falling point", "relay point", etc.) By moving the delivery route (first movement route), control is performed such that the small carriage 200 mounted on the carriage 100 dismounts and leaves. The delivery control at this time specifies the child carriage 200 on which the delivery box 300 to be delivered to the delivery destination corresponding to the predetermined position (“disembarking point”, “relay point”) on the delivery route is loaded. When the door is opened, the door becomes a storage passage, which is a control process for causing the child carriage 200 to be discharged.

  That is, the first movement route from the center of the delivery source to a predetermined position (point) on the delivery route ("falling point", "relay point") From the route, in other words, it can be said that the child vehicle 200 moves along the first movement path (in an integral inseparable manner) with the mother vehicle from the delivery destination to the relay point.

  Furthermore, the delivery control mechanism performs control to store the baby carriage 200 when the baby carriage 200 delivers the delivery box 300 to the delivery destination and then returns (returns) to the baby carriage 100. The warehousing control at this time is returned to a predetermined position with respect to the carriage 100 (a position designated in relation to the carriage 100 for the carriage 200 to be stored in the carriage 100) by mutual communication with the carriage 200. As a result, the door of the mother gear 100 is opened, and the door becomes a warehousing path, thereby making the warehousing child 200 warehousing and stopping at a predetermined stop position in the mother gear 100.

  The delivery control mechanism further manages the delivery status of the baby carriage 200 by performing mutual communication with the baby carriage 200 from which the baby carriage 100 is delivered.

  In addition to this, the carriage 100 is provided with a microphone and a speaker in addition to a surveillance camera that can monitor the surroundings at a predetermined site. When an emergency or trouble occurs in the mother car 100, the maintenance monitor of the monitoring center uses the surveillance camera mounted on the mother car 100 by mutual communication with the center 10 (particularly, the monitoring center). In addition to being able to make conversations with people around them, it is also possible for maintenance and surveillance personnel to operate using remote control while confirming the safety of the surrounding conditions with a camera or the like.

  Further, as in the case of the carriage 100, the carriage 200 also has an automatic operation control mechanism (automatic operation control unit) and a delivery control mechanism (delivery control unit), and the delivery of packages is achieved by interlocking them with each other. It will be done. However, the automatic driving control mechanism of the child carriage 200 is similar to, but different from, the automatic driving control mechanism in the mother carriage 100, and the delivery control mechanism of the child carriage 200 is different from the delivery control mechanism in the mother carriage 100. is there.

  The automatic operation control mechanism in the child vehicle 200 is a generic name of devices necessary for moving from a point (also referred to as “falling point”, “relay point”) from which the vehicle 100 got off to the delivery destination. A control device, a storage device, an engine, drive wheels, various actuators, motors (servo motors, in-wheel motors), cylinders, various sensors (including cameras (imaging devices)), etc. correspond.

  The automatic driving control mechanism moves the delivery route (second movement route) from the point (also referred to as “disembarking point”, “relay point”) where the child vehicle 200 gets off from the carriage 100 to the delivery destination.

  That is, since the second movement route from the point where the carriage 100 got off ("Attaching point", "relay point") to the delivery destination is a delivery route where the baby carriage 200 gets off the carriage 100 and moves In other words, it can be said that the baby carriage 200 moves independently on the second movement route from the relay point to the delivery destination independently of the carriage 100.

  In addition to the information on the delivery destination 20, the storage device of the child carriage 200 includes map information used to determine the delivery route to the delivery destination of the package and the movement route (travel route, delivery route) of the child carriage 200. It stores road information on a certain road. Besides this, it is possible to store traffic information that can be updated as needed.

  In addition, the operation control device for the small carriage 200 performs parallel parking in the narrow place (alley, etc.) and parallel movement to the left and right as well as back and forth movement to perform direction change, rotation on the spot, parallel in the oblique direction. In addition to being able to move, etc., it has a balance control function to prevent overturning when moving up or down stairs, slopes on slopes, etc. The balance control function is a function of detecting the center-of-gravity position based on the baby carriage 200 and the delivery box 300 one by one and automatically adjusting the center-of-gravity position using a center-of-gravity position adjustment device (balancer).

  With this balance control function, the child carriage 200 minimizes rollover or fall due to collision or contact with an obstacle.

  In addition, the operation control device also includes a GPS device capable of specifying (positioning) a position on map information.

  In the child vehicle 200, the delivery control route from the current position (the present location) specified by the GPS device to the delivery destination 20 using the information (map information, road information, traffic information, etc.) stored in the storage device by the operation control device. (Movement route) can be searched and stored, and operation (movement) can be performed based on this delivery route. Of course, it is also possible to appropriately update this delivery route based on new traffic information, road information and the like.

  Similarly to the carriage 100, in this carriage 200, the traffic lanes, signals, etc. defined by other vehicles in the vicinity, pedestrians, animals, falling objects, grooves, irregularities, center lines, etc., radar, sensors (radar, laser In addition to sensors, infrared sensors, ultrasonic sensors, pyroelectric sensors, etc.), complex recognition is made based on information obtained by camera-based face recognition systems and human detection systems. As a result, the small carriage 200 can safely drive (move) to the delivery destination or its vicinity while avoiding various dangers on the road.

  Further, as a delivery control mechanism of the baby carriage 200, the baby carriage 200 is provided with a robot arm (also simply referred to as an "arm"), and this arm holds the delivery box 300 so as not to drop at delivery. At the same time, the delivery box 300 is moved from this held state, and the location of the delivery box fastener 400 provided at the delivery destination is confirmed by various sensors, optical devices, electromagnetic wave sensors, etc. The delivery is performed by fixing the delivery box 300 to 400.

  The relationship between the delivery box 300 and the delivery box fixture 400 will be described later.

  From this point of view, the arm is a member capable of holding, holding or holding the delivery box 300, so it may be referred to as a "holding member" or a "holding member" or a "holding member". In addition to being capable of moving the delivery box 300, it can also be referred to as a "movable member".

  In the above description, the delivery box 300 is pre-loaded on the child carriage 200. However, the delivery box 300 is not limited to this, and is disposed at a predetermined position in the carriage 100 by the arm being movable. The delivery box 300 may be loaded on the child carriage 200.

  In addition, the small carriage 200 is equipped with a surveillance camera capable of monitoring the surroundings at a predetermined position, a microphone and a speaker, and an emergency stop button. When an emergency or trouble occurs in the child vehicle 200, the maintenance surveillance staff of the surveillance center uses the surveillance camera mounted on this carriage 100 by mutual communication with the center 10 (in particular, the surveillance center). In addition to being able to make conversations with people around them, it is also possible for maintenance and surveillance personnel to operate using remote control while confirming the safety of the surrounding conditions with a camera or the like.

  Also, by pressing (or touching) the emergency stop button when a person in the vicinity feels dangerous, it is possible for the baby carriage 200 to stop traveling, and in the same manner as described above, It is possible to check the surrounding situation with a mounted surveillance camera and talk with people around it.

  Subsequently, in the following, a flow of processing for delivering the delivery box 300 from the center 10 of the delivery source to the delivery destination by the carriage 100 and the carriage 200 having the functions as described above will be described.

  The carriage 100 mounted with the carriage 200 searches for a delivery route (moving route) to the delivery destination to which the delivery box 300 loaded in the carriage 200 is delivered based on the information on the delivery destination. In this search process, a delivery route for delivering the delivery box 300 to the delivery destination is retrieved using the GPS device included in the carriage 100 and the stored map information, road information, and the like.

  That is, if there are a plurality of delivery boxes 300 to be delivered (if there are a plurality of slaves 200 for loading the delivery boxes 300), the delivery route in consideration of each delivery destination of each delivery box 300 will be searched. . The carriage 100 stores the delivery route searched by this search process.

  In the example shown in FIG. 1, three “delivery destination 1”, “delivery destination 2”, and “delivery destination 3” are designated as delivery destinations. In this case, the delivery route is “center →“ delivery destination 1 ”→“ delivery destination 2 ”→“ delivery destination 3 ”→ center”.

  However, although “Center →“ Delivery destination 1 ”” is specified as part of the delivery route, the movement route on which the vehicle 100 moves is relay point 1 (“Relay 1” shown) from the center The delivery between the relay point 1 and the "delivery destination 1" is indicated by the movement of the child carriage 200. The relay point 1 at this time is also a point corresponding to the delivery destination, and may also be referred to as a point (disembarking point) at which the child vehicle 200 carrying the delivery box 300 delivered to the delivery destination is dismounted from the carriage 100 it can.

  In addition, also in the child car 200, in addition to searching for a delivery route (moving route) from the present location (alighting point etc.) to the delivery destination based on the information on the delivery destination, as in the case of the mother car 100 Search the return route from the beginning to the return. In this search process, using the GPS device provided in the child vehicle 200, and the stored map information and road information, etc., from the current location (alighting point etc.) of the child vehicle 200 to the delivery destination, and from the delivery destination to the child vehicle Search for delivery routes up to 100 points.

  If the current location is a point where the carriage 100 got off (a drop off point, a relay point), a delivery route from this point (a drop off point, a relay point) to the delivery destination is retrieved and stored, and then delivered by the delivery destination. When the process is completed, the child vehicle 200 searches for a return route to the return point where the mother vehicle 100 is located by communicating with the mother vehicle 100. That is, it shows the case where the getting-off point and return point from the mother vehicle 100 are the same (including substantially the same).

  Subsequently, in “delivery destination 1” → “delivery destination 2” which is a part of the delivery route searched by the carriage 100, the movement route along which the carriage 100 moves is “relay” corresponding to “delivery destination 1”. It is from "point 1" to "relay point 2" corresponding to "delivery destination 2". Also in this case, similarly, between the relay point 2 and the “delivery destination 2” indicates that the child vehicle 200 searches for the delivery route and delivers. In FIG. 1, the child vehicle 200 moved from “relay point 2” to “delivery destination 2” is not “relay point 2” dismounted from the carrier 100 but “relay point 3 corresponding to delivery destination 3”. It will return to ".

  That is, it shows the case where the movement start point and the return point of the baby carriage 200 are different. This indicates that the carriage 100 has moved from the "relay point 2" to the "relay point 3" corresponding to the "delivery destination 3" while delivering the child vehicle 200 to the delivery destination 3, It shows that the child vehicle 200 searches for “delivery destination 2 → relay point 3” as a return route through communication with the mother vehicle 100.

  Similarly, in “delivery destination 2” → “delivery destination 3” which is a part of the delivery route searched by the carriage 100, the movement route along which the carriage 100 moves corresponds to “delivery destination 2”. It is “relay point 3” corresponding to “relay point 2” to “delivery destination 3”. In this case as well, delivery between the relay point 3 and the “delivery destination 3” is indicated by movement of the baby carriage 200.

  Then, “Delivery destination 3” → center ”, which is a part of the delivery route searched by the carriage 100, is a route along which the carriage 100 moves.

  By the flow as described above, the delivery box 300 (package) is delivered from the center that is the delivery source to the delivery destination.

  At the delivery destination at this time, a fixing tool (hereinafter, referred to as “delivery box fixing tool 400”) to which the delivery box 300 is fixed is provided.

  The delivery box 300 secured to the delivery box fixture 400 has one or more protrusions 310 (also referred to as "protrusions") that can be secured to the delivery box fixture 400 and also delivered The box fixture 400 has one or more holes 410 for locking the delivery box 300 by inserting (piercing) the protrusions 310 of the delivery box 300. The projection 310 is formed by a combination of a cylindrical portion and a conical portion, and has a constriction in the combined portion of the cylindrical portion and the conical portion.

  The protrusion 310 provided in the delivery box 300 and the hole 410 provided in the delivery box fastener 400 are fixing members capable of securing the delivery box 300 to the delivery box fastener 400. In other words, since the delivery box 300 and the delivery box fixture 400 are engaged by the protrusion 310 and the hole 410, the protrusion 310 is an engagement portion (first engagement) in the delivery box 300. Part), and the hole part 410 can be said to be an engagement part (second engagement part) in the delivery box fixture 400. Therefore, the delivery box 300 is fixed to the delivery box fixture 400 by engaging the second engagement portion with the first engagement portion.

  In addition, the delivery box fixture 400 has a lock mechanism, and when the projection 310 of the delivery box 300 is inserted into the hole 410, the projection 310 can not be fixed to the hole 410 by the lock mechanism and can not be removed. By controlling (locking control) to the state (including the state that it is difficult to remove), it is prevented from being removed or stolen automatically .

This locking mechanism is supported by two of the four projections 310 provided in the delivery box 300 by the two projections 310, and the remaining two projections 310 are provided to the delivery box fixture 400. A non-constricted cylindrical pin is provided as a protrusion fitted in the upper circular portion of the hole 410 so as to project from the delivery box and to prevent the delivery box from being lifted upward and to be fixed.

  To remove (lock release) the lock controlled delivery box 300 from the delivery box fixture 400, the child carriage 200 authenticates a unique ID and password stored in the storage device of the delivery box 300, etc. The child carriage 200 performs an operation (unlocking operation) for unlocking the delivery box 300 with respect to the delivery box fixture 400.

  As described above, when the delivery box 300 is fixed to the delivery box fixture 400 by the movement of the arm of the baby carriage 200, the delivery of the delivery box 300 is completed.

  If delivery can not be fixed to the delivery destination where the delivery box fixture 400 is not installed, or if the child car 200 can not secure the delivery box 300 to the delivery box fixture 400 installed due to some failure, It is possible to notify the arrival of the package to the contact information of the receiver registered in advance and to deliver the package at a predetermined position (standby position) in the vicinity of the delivery destination where the child carriage 200 is waiting.

  However, in the case where the child car 200 can not fix the delivery box 300 to the delivery box fixture 400 and the notification of the arrival of the package is made to the contact information of the receiver registered in advance, it is absent If there is no reply for any reason or if it is confirmed that it is difficult or impossible to receive for some reason by means of a telephone, email, SNS, etc., the baby carriage 200 returns to the carriage 100 to stay at home Make a redelivery after confirmation.

  Subsequently, processing after delivery is completed will be described.

  Then, when the delivery of the delivery box 300 is completed by the process as described above, the child vehicle 200 receives the contact information (e-mail, various SNSs) included in the information on the recipient of the delivery box 300 stored in the storage device. Notify the (Social Networking Service) of the arrival of the package.

  The contents to be notified at this time include the delivery of the package and the unlocking key code as information for taking out the delivered package from the delivery box 300 (Other than this, "the unlocking information", "the unlocking password") Also called).

  The delivery box 300 has an information input unit such as a touch panel, a button, and a camera (image pickup device), and can receive an input of an unlocking key code described later. When the regular unlocking key code is input from the information input unit and authentication is performed, the delivery box 300 performs lock control in a state where the door of the delivery box 300 can be opened (opened state). In addition, when the package is taken out by the receiver and the door is closed while the door is locked and the door is locked, the delivery box 300 is controlled to lock the door of the delivery box 300 in a closed state (closed state). Do.

The recipient of the package (if the purchase requester and the purchaser of the product are the same, the purchase requester) inputs predetermined information into the information input unit of the delivery box 300, and the delivery box 300 has the correct predetermined information. Upon authentication as the unlocking key code, the delivery box 300 performs lock control in an openable state (open state). This allows the recipient to open the door of the delivery box 300 and take out the package.

  After the package is taken out, when the door of the delivery box 300 is closed (or the door is closed by the receiver), the delivery box 300 locks the door, but again, the correct unlocking key code is It can be unlocked any number of times by verifying that it has been input.

  By the above processing, it is possible to take out the packages for which the delivery has been completed.

  Then, the delivery box 300 transmits status information to the center 10 when it is detected that a package has been taken out by a sensor or the like and that the door has been locked. At this time, the center 10 transmits a “BOX collection inquiry notification” inquiring whether collection of the delivery box 300 is possible to the carriage 100 which delivers the package to an arbitrary delivery destination.

  In the baby carriage 100 that has received this “BOX collection inquiry notification”, it is determined whether or not there is a small carriage 200 (a small carriage 200 not carrying the delivery box 300) on which the delivery box 300 can be mounted. To which the recovery of the delivery box 300 is possible.

  After that, the mother vehicle 100 that receives the “BOX collection instruction (collection instruction information)” instructing collection of the delivery box 300 from the center 10 is designated as the “BOX collection instruction” at the delivery destination (in this case, “collection destination” The route to the collection destination is searched and stored based on the information (also referred to as “collection information” and “collection destination information”) related to “), and the movement is performed based on the route The delivery box 300 will be collected.

  The collection information at this time includes, in addition to the address and name of the collection destination, “fixing tool number” for identifying the delivery box fixing tool 400, “box identification information” for identifying the delivery box 300 to be collected, and the like.

  In addition, the route for recovering the delivery box 300 is newly incorporated into the delivery route of the existing delivery box 300, whereby the vehicle 100 performs delivery and recovery via the new delivery route (delivery recovery route). It will be. Of course, the collection route may be retrieved and stored separately from the existing delivery route, and the delivery box 300 may be collected based on the collection route after the delivery of the delivery box 300 on the delivery route is completed. Before delivery of the delivery box 300 by route, the delivery box 300 may be recovered based on the recovery route.

  A state in which the delivery box 300 is delivered and recovered by a new “delivery recovery route” in which a recovery route for recovering the delivery box 300 at this time is incorporated into the existing delivery route is shown in FIG. 2 and will be described later.

  By the process as described above, it is possible to collect the delivery box 300 which has been delivered and fixed to the delivery box fixture 400 at the delivery destination.

  FIG. 2 is another diagram showing the outline of the delivery system in the embodiment of the present invention.

  FIG. 2 shows the delivery system in the delivery recovery route in which the delivery route in the delivery system as shown in FIG. 1 incorporates the recovery route for recovering the delivery box 300 as described above.

  The delivery collection route shown in FIG. 2 is the delivery route shown in FIG. 1 “center →“ delivery destination 1 ”→“ delivery destination 2 ”→“ delivery destination 3 ”→ center”, recovery destination 1 of delivery box 300 ( Can be also referred to as “delivery destination”).

  Specifically, the delivery route along which the mother carriage 100 moves from “delivery destination 3” to the center 10 is changed to “delivery destination 3 → collection destination 1 → center”.

  When the carriage 100 performing recovery of the delivery box 300 receives the “BOX recovery instruction (recovery instruction information)” from the center 10, the information on the recovery destination included in the “BOX recovery instruction (recovery instruction information)” (recovery destination Based on the information on the address of the box and the box (“box identification information”, “locking key code”, “size”, etc., described later) to move to the collection destination.

  Similarly to each delivery destination, “relay point 4”, which is the stop position of the vehicle 100 with respect to the collection destination 1, is provided for the collection destination 1 as well, and the child vehicle 200 gets off at this “relay point 4”. Then, the child carriage 200 moves to the collection destination 1. At this time, the child carriage 200 heading for collection is a delivery vehicle in which the delivery box 300 is not loaded on the loading platform.

  In the collection destination 1, a process of loading the delivery box 300 on a loading platform using an arm is performed. At this time, the child carriage 200 has unique delivery box identification information (hereinafter also referred to as “BOX ID”, “BOX identification information”, “box identification information”) stored in the storage device of the delivery box 300, and an unlocking key The code etc. is confirmed (checked), and the unlocking key code etc. is the same as the "box identification information" and the "locking key code" of the information on the collection destination included in the "BOX collection instruction (collection instruction information)". As a result, the baby carriage 200 releases, fixes, and loads the delivery box 300 with respect to the delivery box fixture 400.

  Such processing enables the recipient to complete the delivery directly without receiving the package stored in the delivery box 300 at the delivery destination. In other words, it is possible to dramatically reduce the number of times redelivery is required due to the absence of the recipient.

  Therefore, the delivery system according to the present invention makes it possible to significantly reduce the delivery cost (cost) compared to conventional delivery.

  FIG. 3 is a diagram showing processing steps (work steps) performed at the delivery source that constitutes the delivery system in the embodiment of the present invention.

  In FIG. 3, as described above, the center 10 collectively refers to a product management center (product management source), a delivery center (delivery source), a monitoring center (monitoring source), and the like. In FIG. 3, each operation | work process of "BOX delivery process" performed in this center 10 and "BOX collection | recovery process" is described.

  First, the “BOX delivery process” for delivering the delivery box 300 to the delivery destination 20 will be described.

  As the "BOX delivery step", there is an order receiving step (A1) for receiving an order for a product. The order receiving step is a step of receiving an order placed using an electronic commerce (EC) site that enables electronic commerce.

  In the order receiving process, when the order is received, there is subsequently a storing process (A2) of storing (storing) the ordered product as a package in the delivery box 300 (also referred to as “BOX” or “storage”).

  In this storage process, according to the size (size), shape, number, shock resistance, etc. of the package, a delivery box 300 suitable for delivering the package is selected from the plurality of delivery boxes 300, and the selected delivery box 300 Pack and store the luggage in the

  Subsequently, in the storage step, a carriage 200 which is a delivery vehicle for loading the delivery box 300 storing the packages is determined, and a vehicle determination step (A3 for deciding the carriage 100 which is a delivery vehicle on which the carriage 200 is mounted) ). In addition, this child vehicle 200 may be called a "1st delivery vehicle", and the mother carriage 100 may be called a "2nd delivery vehicle."

  In the vehicle determination step, when the delivery vehicle is determined, there is subsequently an information setting step (A4) of setting (storing) predetermined information in the storage device of each of the delivery box 300, the child carriage 200, and the carriage 100.

  In the information setting process, first, at least storage of child carriage identification information (child carriage ID) for identifying the child carriage 200 for loading the delivery box 300 and delivery destination information specifying a delivery destination in the storage device of the delivery box 300 Do. Second, the delivery box identification information for identifying the delivery box 300 loaded on the child carriage 200, the authentication information, and the carriage identification information for identifying the carriage 100 on which the child carriage 200 is loaded Car ID), storing at least delivery destination information specifying a delivery destination. Third, in the storage device of the mother car 100, a child car ID for identifying the child car 200 mounted on the mother car 100 and delivery destination information specifying a delivery destination are set.

  In the information setting process, when the information is set in the storage device of each of the delivery box 300, the carriage 200, and the carriage 100, subsequently, the delivery box 300 is loaded on the carriage 200, and the carriage 200 is placed on the carriage 100. There is a departure preparation process (A5) which prepares for departure by installing in.

  In the preparation process for departure, when preparation for departure is completed, subsequently, there is a delivery instructing step (A6) for making a delivery request for “BOX delivery” to the carriage 100 and instructing delivery.

  Through such a process, the carriage 100 departs from the center toward the delivery destination.

  Next, the “BOX recovery process” of recovering the delivery box 300 delivered to the delivery destination will be described.

  As the "BOX recovery process", first, the center 10 receives a "BOX recovery inquiry notification" to the predetermined bus 100 after the "removal completion notification" indicating that the package has been removed from the delivery box 300 is received by the center. There is an inquiry step (B1) to be sent.

  In the inquiry step (B1), when the center 10 transmits the “BOX collection inquiry notification” to the predetermined bus 100, subsequently, the delivery box 300 is not loaded from the bus 100 that has received the notification. It indicates that collection of the delivery box 300 is possible because the small carriage 200 is mounted, or that collection of the delivery box 300 is impossible because there is no small carriage 200 on which the delivery box 300 is not loaded. There is a notification receiving step (B2) for receiving the “BOX inquiry response notification”.

  At this time, the carriage 100 includes information necessary for the center 10 to determine the carriage 100 for collecting the delivery box 300, such as the current location and the number of remaining deliveries, in the “BOX inquiry response notification” and transmits it. May be

  Subsequently, in the notification receiving step (B2), when the “BOX inquiry response notification” is received from each of the mother cars 100, the delivery box 300 is collected based on the “BOX inquiry response notification” received from each of the mother cars 100. There is a carriage determination step (B3) for determining the carriage 100 to be performed.

  In this carriage determination step (B3), among the carriages 100 carrying the carriages 200 on which the delivery box 300 is not loaded, the distance to the delivery destination 20 where the delivery box 300 to be collected is installed In consideration of this, a carriage 100 corresponding to the collection of the delivery box 300 is determined.

  Subsequently, in this carriage determination step (B3), when the carriage 100 corresponding to the collection of the delivery box 300 is determined, there is a collection instructing step (B4) of transmitting a “BOX collection instruction” to the carriage 100.

  In the mother vehicle 100 that has received the “BOX recovery instruction” transmitted in the recovery instruction step (B4), the recovery route of the delivery box 300 is searched for the delivery route, and the delivery box 300 is recovered.

  Through the steps as described above, the center 10 instructs the delivery and recovery of the delivery box 300.

  FIG. 4 is a diagram showing a configuration of a bus in the embodiment of the present invention.

  In the carriage 100 of FIG. 4, a carriage driving wheel 101 for driving (traveling) a road, a storage surface 102 for mounting the small carriage 200, and a door 103 as an entrance of the small carriage 200 are shown.

  A storage space 102 is provided with a work space 102a (work surface) for the small carriage 200, and the work space 102a is a waiting place for the small carriage 200 to be delivered to the next delivery destination, and the small carriage 200 It is a work place where the delivery box is loaded on the loading platform and the delivery preparation is done.

  The door 103 functions as a warehousing path and a warehousing path when the baby carriage 200 moves in and out (in and out).

  FIG. 5 is a view showing the configuration of a baby carriage according to the embodiment of the present invention.

  The small carriage 200 of FIG. 5 includes an arm 201, a loading platform 202, a small carriage driving wheel 203, and a communication antenna 204.

  The arm 201 is an articulated arm, and is constituted by a first articulated arm 201a and a second articulated arm 201b, and by performing an operation in which the first articulated arm 201a and the second articulated arm 201b are linked. The delivery box 300 is held on the loading platform 202 and the delivery box 300 is fixed to the delivery box fixture 400.

  As described above, the arm 201 is a member for holding the delivery box 300 on the loading platform 202, and also allows the delivery box 300 to move from the loading platform 202 to the delivery box fastener 400 and secures the delivery box 300 to the delivery box fastener 400. The delivery control mechanism (delivery control unit) of the child carriage 200 is realized.

  The arm 201 is in an initial arm state (first arm state) when the delivery box 300 is not loaded on the loading platform 202, a second arm status in which the delivery box 300 is loaded and held on the loading platform 202, and the delivery box There may be at least a third arm state when securing 300 to the delivery box fixture 400.

  The loading platform 202 is a base in a flat state so that the bottom surface of the delivery box 300 contacts, and the arm 201 contacts and holds the delivery box 300 on the loading platform 202 even if the carriage 200 shakes or the like. Keep the state.

  The child car drive wheel 203 is a drive mechanism relating to the movement of the delivery route (second movement path), and realizes an "automatic operation control mechanism (automatic operation control unit)" of the child vehicle 200.

  The communication antenna 204 is a communication interface for communicating with the mother car 100, the center 10, and the like in addition to the delivery box 300.

  The baby carriage 200 has a balance control function, and this balance control function manages the center of gravity in the baby carriage 200 and keeps the momentum at the center of gravity at a constant value, thereby avoiding a fall or the like. It is a function. The momentum at this time corresponds to feedback control or the like in which the reaction force of the amount of force applied to each of the traveling direction and the upper, lower, left, and right directions is calculated and this reaction force is applied to the slave 200.

  In addition to the above, although not shown, the small car 200 is equipped with a radar and sensors (a radar, a laser sensor, an infrared sensor, an ultrasonic sensor, a pyroelectric sensor, etc.) and a camera. Besides being used for movement control, it is also used when confirming the position of the hole 410 in the delivery box fixture 400.

  6-9 is a figure which shows the delivery aspect in the delivery system in embodiment of this invention.

  In FIG. 6, a roadway, a sidewalk provided along the roadway, a delivery destination passage substantially perpendicular to the sidewalk, and a step (step) provided between the delivery destination passage and the delivery box fixing device 400 for delivery destination This is a movable space in which the arm 201 can move so as to install the delivery box 300 on the delivery box fixture 400 beyond the step, and the delivery destination designated position 21 designated for each delivery destination, A delivery box fixture 400 provided on the wall is shown.

  In FIG. 6, the carriage 100 is stopped at the end of the driveway as a relay point (e.g., "relay point 1") for the delivery destination, and the baby carriage 200 dismounted at this relay point is the carriage After leaving the 100 doors as a delivery route, the delivery path will be moved across the sidewalk.

  After moving on the delivery destination passage, the small carriage 200 travels over the step and arrives at the delivery destination designation position 21. By controlling the arm 201, the position of the hole portion 410 of the delivery box fixture 400 is confirmed to deliver the delivery box. Fix 300.

  FIGS. 7-9 is a figure which shows a mode that the delivery box 300 is fixed to the delivery box fixing tool 400 by moving the arm 201 of the child carriage 200 in the delivery destination designation position 21 with respect to a delivery destination.

  The delivery destination designation position 21 is provided at the front position of the delivery box fixture 400, and is a work area consisting of a fixed range in which the delivery box 300 is fixed by the movement of the arm 201 of the child carriage 200.

  When the baby carriage 200 belongs to the delivery destination designation position 21 (see FIG. 7), the baby carriage 200 confirms (position recognition) the position of the hole 410 provided in the delivery box fixture 400.

  Next, as shown in FIG. 8, the baby carriage 200 lifts the delivery box 300 from the bed 202 by the movable control of the arm 201 to move it forward of the baby carriage 200.

  Then, as shown in FIG. 9, the baby carriage 200 hooks the delivery box 300 by inserting (penetrating) the protrusion 310 of the delivery box 300 into the position-recognized hole 410.

  At this time, four holes 410 (first hole 410 a, second hole 410 b, third hole 410 c, and fourth hole 410 d) are provided in the delivery box fixture 400 shown in FIGS. 7 to 9. The delivery box 300 has four projections 310 (a first projection 310a, a second projection 310b, a third projection 310c, and a fourth projection 310d) which are inserted into the holes 410 respectively. doing.

  Of course, while the delivery box fixture 400 has a plurality of holes 410, the delivery box 300 may be configured to have only a single protrusion, or vice versa. In addition, in the case where the protrusion 310 is a mechanism that can be embedded in the delivery box 300 with a spring or the like (a mechanism that can be recessed), the number of “number of holes 410” is “the number of protrusions 310”. Or less.

  That is, the number of engaging portions (protrusions 310, holes 410) of the delivery box fixture 400 and the delivery box 300 does not have to be the same.

  FIG. 10 is a diagram showing a detailed configuration of the delivery box 300 in the embodiment of the present invention.

  In FIG. 10, the delivery box 300 includes a lid portion 301, a luggage storage portion 302, a damper 303, and a hinge 304. The lid portion 301 and the luggage storage portion 302 are joined by the hinge 304.

  The lid portion 301 is opened with the hinge 304 as a fulcrum, and the damper 303 can maintain the open state and slowly close it.

  FIG. 10A shows a state in which the lid portion 301 can be opened and closed in the vertical direction, and FIG. 10B shows a state in which the lid portion 301 can be opened and closed in the front direction. These delivery boxes 300 will be selected by the package to be delivered.

  FIG.10 (c) is the figure which rotated FIG. 10 (a) and showed the back surface in which the projection part 310 was provided. The projection 310 is provided in a positional relationship corresponding to the hole 410 provided in the delivery box fixture 400 described later.

  The protrusion 310 can also be referred to as a portion (first engagement portion) that engages with the hole 410 provided in the delivery box fixture 400.

  FIG. 11 is a view showing details of the delivery box fixture 400 in the embodiment of the present invention.

  The delivery box 300 shown in FIG. 11 is provided with four holes (a first hole 410a, a second hole 410b, a third hole 410c, and a fourth hole 410d). It is a site | part which can engage the projection part 310 provided in these.

  From this, this hole portion 410 can also be referred to as a portion (second engagement portion) that engages with the protrusion 310 provided on the delivery box 300.

  The hole portion 410 is configured by combining two circular portions of an upper circular portion 410a and a lower circular portion 410b, respectively. What is fitted into (engaged with) the two circular portions of the upper circular portion 410 a and the lower circular portion 410 b is a protrusion 310 provided on the delivery box 300. The cylindrical portion of the projection 310 protrudes from the delivery box 300 and is provided to prevent the delivery box 300 from being lifted upward and to fix it.

  FIG. 12 is a view showing the engaged state of the delivery box 300 and the delivery box fixture 400 in the embodiment of the present invention.

  FIG. 12 shows a state in which the protrusion 310 of the delivery box 300 is inserted into (engaged with) the hole 410 of the delivery box fixture 400 and engaged (engaged).

  A hole 410 provided in the delivery box fixture 400 is a hole formed by combining a large hole (first hole shape) and a small hole (second hole shape) in comparison with the large hole. It is.

  After inserting the protrusion 310 of the delivery box 300 into the large hole, the delivery box 300 is engaged and fixed to the delivery box fixture 400 by moving the protrusion 310 to a small hole.

  FIG. 13 is a diagram showing the contents of the mail received by the package recipient.

  The mail content shown in FIG. 13 is the content in the transmission means that the child carriage 200 notifies the recipient of the delivery box 300.

  This e-mail has header information consisting of address (TO: xxx@yyy.jp), delivery source (FROM: (deliverer or package sender)), subject (SUBJECT: notification of delivery completion), etc. It also includes the contents of the message, delivery box identification information (BOX number) identifying the delivery box, and an unlocking key code.

  The recipient of the package recognizes that the delivery of the package has been completed by receiving such mail contents, identifies the delivery box 300, unlocks the identified delivery box 300, and takes out the package. It becomes possible.

  FIG. 14 is a flowchart showing a detailed flow of the BOX delivery control process performed in the bus in the embodiment of the present invention.

  In FIG. 14, at least one of “delivery information” and “collection information” which are information received or set information by communication with the center 10 is confirmed in the mother vehicle 100 (S 1401).

  The delivery information is information including a "fixing fixture number" for identifying the delivery box fixture 400, "box identification information" for identifying the delivery box 300 to be delivered, etc., in addition to the address and name of the delivery destination. Further, the collection information includes, in addition to the address and name of the collection destination, a “fixing tool number” for identifying the delivery box fixing tool 400, “box identification information” for identifying the delivery box 300 to be collected, and the like.

  Based on these pieces of information, the vehicle 100 searches for a delivery route to a delivery destination based on map information and traffic information stored in advance (S1402), and sets (stores) it (S1403).

  Then, the carrier 100 determines whether a delivery start condition, which is a condition for starting delivery from the current location (for example, the center 10), is satisfied (S1404). The delivery start condition is, for example, that the departure order for the carriage 100 to depart from the center 10 is reached, that the set departure time is reached, and the like.

  The host vehicle 100 continues the standby state until it is determined that the delivery start condition is established (NO in S1404), and when it is determined that the delivery start condition is established (YES in S1404), Operation control processing regarding delivery based on the set delivery route is performed (S1405).

  This operation control process is a process of moving the delivery route from the current position (the present location) to the delivery destination 20 using each information (map information, road information, traffic information, etc.) and the GPS device, and In addition to radar (laser sensor, infrared sensor, ultrasonic sensor, pyroelectric sensor, etc.), information obtained by the camera's face recognition system or human detection system, other surrounding vehicles, pedestrians, animals, falling objects , The groove, the unevenness, the center line, etc., and the vehicle moves while paying attention to the traffic lane and the signal.

  Then, the mother vehicle 100 determines whether or not it has arrived at the relay point for the delivery destination indicated by the “delivery information” on the delivery route or the vicinity thereof by the operation control processing (S1406).

  By this operation control process, the operation control process is continued until reaching the point (the relay point or its neighborhood) (NO in S1406), and the relay point for the delivery destination 20 indicated by the “delivery information” or the vicinity is When it arrives (YES at S1406), the carriage 100 performs control to cause the carriage 100 to deliver the delivery box 300 from the relay point to the delivery destination from the carriage 100 (S1407).

  By this delivery control processing, it is judged whether or not the baby carriage 200 has been delivered from the carriage 100 (S1408), and until the carriage 200 completes the delivery from the carriage 100 (NO in S1408) performs delivery control processing (S1407).

  Then, when the delivery control process is completed and the baby carriage 200 leaves the baby carriage 100 (YES in S1408), subsequently, the baby carriage 100 continuously performs the communication control process with the baby carriage 200 that has been carried out. Thus, the delivery status of the baby carriage 200 is maintained (S1409).

  As a result, the carriage 100 and the baby carriage 200 can grasp each other's current location and delivery status one by one.

  Based on the management status, the carriage 100 determines whether the child carriage 200 has completed delivery and is at a predetermined position (S1410). That is, after delivery is completed by fixing the delivery box 300 to the delivery destination 20, the carriage 100 is designated at a predetermined position related to the carriage 100 (in relation to the carriage 100 for storage) Position) is determined.

  The baby carriage 100 continues communication control processing with the baby carriage 200 and continues managing the situation of the baby carriage 200 (S1409) until the baby carriage 200 belongs to this predetermined position (NO in S1410).

  The communication control processing performed between the carriage 100 and the carriage 200 includes direct communication directly performed by the carriage 100 and the carriage 200, and the carriage 100 and the carriage 200 via the center 10. May be control processing of indirect communication which is performed indirectly. Further, all the control processing performed by the carriage 100 and the small carriage 200 may be performed by the communication control instruction from the center 10.

  On the other hand, when the baby carriage 200 is to belong to the predetermined position (YES in S1410), the baby carriage 100 performs control processing to store the baby carriage 200 in the baby carriage 100 (S1411). The storage control process is a control process for opening the door of the mother car 100 and for the door to become a storage path to store the child car 200 and to stop at a predetermined stop position in the mother car 100.

  When the carriage 200 completes the storage in the carriage 100 by the storage control process, the carriage 100 updates the management information (child management information) of the carriage 200 (S1412), and centers the carriage management information (S1413). By this, in the center 10, it can be grasped that the small carriage 200 has returned to the carriage 100 normally. Also in this case, similarly, the communication control processing performed between the carriage 100 and the carriage 200 is not limited to direct communication performed directly by the carriage 100 and the carriage 200, and also via the center 10 It may be control processing of indirect communication which 100 and the small child 200 perform indirectly. Further, all the control processing performed by the carriage 100 and the small carriage 200 may be performed by the communication control instruction from the center 10.

  Then, in the mother vehicle 100, it is determined whether or not the delivery control on the delivery route is managed (S1414), and when it is determined that delivery of all the delivery boxes 300 is completed (YES in S1414), the process is ended. .

  Further, until it is determined that the delivery of all the delivery boxes 300 is completed (NO in S1414), the host vehicle 100 performs operation control processing in delivery of the delivery box 300 on the set delivery route (S1405).

  FIG. 15 is a flowchart showing a detailed flow of the BOX delivery control process performed in the child vehicle according to the embodiment of the present invention.

  In FIG. 15, the child carriage 200 checks at least one of “delivery information” and “collection information” which are information received or set information by communication with the center 10 (S1501).

  This delivery information identifies the "fixing fixture number" for identifying the delivery box fixture 400 as well as the delivery address and name as well as the "delivery information" set in the mother vehicle 100, and the delivery box 300 to be delivered. “Box identification information” and the like are included. Further, the collection information is the same as the “collection information” set in the carriage 100, in addition to the address and name of the collection destination, the “fixing tool number” for identifying the delivery box fixing tool 400, and the delivery box 300 to be recovered. It includes “box identification information” to be identified.

  Based on these pieces of information, the child car 200 searches for a delivery route to the delivery destination based on map information and traffic information stored in advance (S1502), and sets (stores) it (S1503).

  Then, the baby carriage 200 determines whether or not the child car delivery start condition, which is a condition for starting delivery from the current position (for example, a relay point), is satisfied (S1504). The delivery start condition for child carriage is a condition under which the door of the carriage 100 is opened, and the child carriage 200 can now be dispatched in consideration of the road condition and the like in the vicinity.

  The child vehicle 200 continues the standby state until it is determined that the delivery start condition is satisfied until the child vehicle 200 determines that the delivery start condition for the child child is satisfied (NO in S1504), and the delivery start condition is satisfied. If it is determined that the operation has been performed (YES in S1504), operation control processing regarding delivery to the delivery destination 20 is subsequently performed based on the set delivery route (S1505).

  Then, the child carriage 200 determines whether or not it has arrived at the delivery destination 20 indicated by the "delivery information" on the delivery route by this operation control processing (S1506).

  The operation control process is continued until it arrives at the delivery destination 20 by this operation control process (NO in S1506), and when it arrives at the delivery destination 20 indicated by "delivery information" (YES in S1506), the child car 200 A control process (BOX fixing control process) for hooking and fixing the loaded delivery box 300 to the delivery box fixture 400 provided at the delivery destination is performed (S1507).

  When the delivery box 300 is fixed to the delivery box fixture 400 by the BOX fixation control process, the child carriage 200 notifies "the completion of attachment" to the carriage 100 and the center 10 (S1508).

  Then, the baby carriage 200 acquires “position information of the baby carriage” by communication with the baby carriage 100 (S1509), and “the return route” to the baby carriage 100 based on the acquired “position information of the baby carriage” Are searched (S1510) and set (stored) (S1511).

  In this state, the child carriage 200 determines whether a "return start condition" for starting operation control based on the set "return route" is satisfied (S1512).

  Until this "return start condition" is satisfied (NO in S1512), the slave 200 is on standby until this condition is satisfied, and when the "return start condition" to start operation control is satisfied (YES in S1512) Operation control based on the set "return route" (S1513).

  Then, the baby carriage 200 determines whether or not all the delivery based on the “delivery route” in the set baby carriage 200 is completed (S1514). As a result of the determination process, the child carriage 200 continues the operation control based on the "return route" (S1513) until all the delivery is completed (NO in S1514). If it is determined by this determination processing that all the delivery has been completed, the child carriage 200 ends the present box delivery control processing.

  FIG. 16 is a flowchart showing a detailed flow of lock control processing performed in the delivery box according to the embodiment of this invention.

  In FIG. 16, the delivery box 300 receives an input of “predetermined information” at an information input unit provided in the delivery box 300 according to an operation by a recipient or the like of a stored package (S 1601). The information input unit is provided in the delivery box 300, and as described above, is a touch panel, a button, a camera (imaging device) or the like.

  The delivery box 300 transmits an authentication request including the "predetermined information" input from the information input unit to the child carriage 200 (S1602). The child vehicle 200 receives the authentication request including the "predetermined information" from the delivery box 300, so that the "predetermined information" is a normal "unlocking key code" for unlocking the delivery box 300. Determine if there is.

  The authentication request includes not only "predetermined information" but also information for identifying the delivery box 300, and "authentication information" for which "predetermined information" is specified with respect to the information for identifying the delivery box 300. It is judged whether or not it is the "locking key code" corresponding to the response to the delivery box 300 (that is, in the child carriage 200, "authentication information" for the information for identifying the delivery box 300, and its "authentication" The judgment program etc. which judge whether it is "the unlocking key code" corresponding to "information" are stored).

  Then, the delivery box 300 determines whether the response from the child carriage 200 is the authenticated "locking key code" (S1603). If it is determined by the child carriage 200 that this "predetermined information" has been authenticated as a normal "unlocking key code", the delivery box 300 performs an unlocking process of the locked door (S1604).

  This allows the package recipient to open the door and take out the package. The recipient takes out the package, and then it is determined whether it is detected that the door is closed (S1605).

  The process waits until the door is closed (NO in S1605), and when the sensor or the like detects that the door is closed (YES in S1605), the delivery box 300 performs a locking process to lock the door (S1606).

  In this locking process, the recipient is prevented from unlocking the door without inputting the "locking key code", and is opened if the recipient inputs the normal "locking key code" again. Is a process that makes it possible to

  When the locking process for locking the door is performed, the delivery box 300 determines whether a sensor (package sensor) provided in the delivery box 300 detects that the package has been taken out by the receiver ( S1607).

  When delivery box 300 detects that the package has been taken out by the receiver (YES in S1607), “delivery completion notification (including BOX identification information)” indicating that package removal has been performed to center 10 Is sent (S1608).

  Until it is detected that the package has been taken out by the recipient (NO in S1607), that is, when the package has not been taken out, delivery box 300 can accept input of "predetermined information" in the information input unit. Do.

  In the above process, it is determined whether or not the package has been taken out by the recipient after the locking process has been performed, but is not limited thereto. That is, it is detected by the package sensor or the like that the package has been taken out by the receiver with the door opened, and the delivery box 300 takes out the package from the center 10 when the locking process is performed. An “extraction completion notification (including BOX identification information)” may be transmitted, which indicates that the event has been performed.

  The embodiment shown above is one embodiment of the present invention, and is not limited to these examples, and can be appropriately modified and implemented within the scope not changing the gist of the invention.

Reference Signs List 10 center 20 delivery destination 100 carriage 101 carriage drive wheel 102 storage surface 102a work space 103 door 200 carriage 201 arm 201a first joint arm 201b second joint arm 202 loading platform 203 carriage drive wheel 204 communication antenna 300 delivery box 310 Protrusions 400 Delivery box fasteners 410 Holes

Claims (2)

A delivery system comprising: a delivery vehicle carrying a delivery box for delivery to a delivery destination; and a host vehicle carrying the delivery vehicle,
The delivery vehicle is
The transport box can be controlled to move to the delivery destination after getting off the host vehicle, and the delivery box can be fixed to a delivery box fixture provided at the delivery destination,
If the delivery box fixing device is not provided at the delivery destination, the receiver of the package contained in the delivery box is notified of the arrival of the package, and waits at a predetermined standby position to the receiver. A delivery system characterized by delivering a package. The delivery vehicle according to claim 1, wherein the delivery vehicle performs movement control so as to return to the host vehicle when delivery of the package can not be performed despite notification of arrival of the package to the receiver. system.

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